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<li class="navelem"><a class="el" href="namespaceob.html">ob</a></li><li class="navelem"><a class="el" href="classob_1_1PointCloudFilter.html">PointCloudFilter</a></li>  </ul>
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<a href="#pub-methods">Public 成员函数</a> &#124;
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<p><a class="el" href="classob_1_1PointCloudFilter.html" title="PointCloudFilter 类，用于生成点云 ">PointCloudFilter</a> 类，用于生成点云  
 <a href="classob_1_1PointCloudFilter.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="Filter_8hpp_source.html">Filter.hpp</a>&gt;</code></p>
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  <img id="dynsection-0-trigger" src="closed.png" alt="+"/> 类 ob::PointCloudFilter 继承关系图:</div>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:aa8b59d9e70d1f9c24054b2db9f1604a1"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classob_1_1PointCloudFilter.html#aa8b59d9e70d1f9c24054b2db9f1604a1">PointCloudFilter</a> ()</td></tr>
<tr class="separator:aa8b59d9e70d1f9c24054b2db9f1604a1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a659dfbe76b7a952e94101d285ee433c2"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classob_1_1PointCloudFilter.html#a659dfbe76b7a952e94101d285ee433c2">setCreatePointFormat</a> (<a class="el" href="ObTypes_8h.html#a30904eab1a667b797e7ce1099ba7c36a">OBFormat</a> type)</td></tr>
<tr class="memdesc:a659dfbe76b7a952e94101d285ee433c2"><td class="mdescLeft">&#160;</td><td class="mdescRight">设置点云类型参数  <a href="#a659dfbe76b7a952e94101d285ee433c2">更多...</a><br /></td></tr>
<tr class="separator:a659dfbe76b7a952e94101d285ee433c2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a050327a9db7e92d5531ceb1776997846"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classob_1_1PointCloudFilter.html#a050327a9db7e92d5531ceb1776997846">setCameraParam</a> (<a class="el" href="structOBCameraParam.html">OBCameraParam</a> param)</td></tr>
<tr class="memdesc:a050327a9db7e92d5531ceb1776997846"><td class="mdescLeft">&#160;</td><td class="mdescRight">设置相机参数  <a href="#a050327a9db7e92d5531ceb1776997846">更多...</a><br /></td></tr>
<tr class="separator:a050327a9db7e92d5531ceb1776997846"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a980dc4e7ae1340245cd7fa4379420bf4"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classob_1_1PointCloudFilter.html#a980dc4e7ae1340245cd7fa4379420bf4">setFrameAlignState</a> (bool state)</td></tr>
<tr class="memdesc:a980dc4e7ae1340245cd7fa4379420bf4"><td class="mdescLeft">&#160;</td><td class="mdescRight">设置将要输入的用于生成点云的帧对齐状态（D2C 模式下需要开启，作为算法选用那组相机内参的依据）(废弃接口)  <a href="#a980dc4e7ae1340245cd7fa4379420bf4">更多...</a><br /></td></tr>
<tr class="separator:a980dc4e7ae1340245cd7fa4379420bf4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2433a1a65918933b1986cd05f5d9f9fd"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classob_1_1PointCloudFilter.html#a2433a1a65918933b1986cd05f5d9f9fd">setPositionDataScaled</a> (float scale)</td></tr>
<tr class="memdesc:a2433a1a65918933b1986cd05f5d9f9fd"><td class="mdescLeft">&#160;</td><td class="mdescRight">设置点云坐标数据缩放比例  <a href="#a2433a1a65918933b1986cd05f5d9f9fd">更多...</a><br /></td></tr>
<tr class="separator:a2433a1a65918933b1986cd05f5d9f9fd"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aed77173766ed9c337ff48cdc3ff9e521"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classob_1_1PointCloudFilter.html#aed77173766ed9c337ff48cdc3ff9e521">setColorDataNormalization</a> (bool state)</td></tr>
<tr class="memdesc:aed77173766ed9c337ff48cdc3ff9e521"><td class="mdescLeft">&#160;</td><td class="mdescRight">设置点云颜色数据归一化  <a href="#aed77173766ed9c337ff48cdc3ff9e521">更多...</a><br /></td></tr>
<tr class="separator:aed77173766ed9c337ff48cdc3ff9e521"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0162955ce076be68bb369537ede0e42b"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classob_1_1PointCloudFilter.html#a0162955ce076be68bb369537ede0e42b">setCoordinateSystem</a> (<a class="el" href="ObTypes_8h.html#aedf3502c5abaa3bfd8027d61e8f529de">OBCoordinateSystemType</a> type)</td></tr>
<tr class="memdesc:a0162955ce076be68bb369537ede0e42b"><td class="mdescLeft">&#160;</td><td class="mdescRight">设置点云坐标系  <a href="#a0162955ce076be68bb369537ede0e42b">更多...</a><br /></td></tr>
<tr class="separator:a0162955ce076be68bb369537ede0e42b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classob_1_1Filter"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classob_1_1Filter')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classob_1_1Filter.html">ob::Filter</a></td></tr>
<tr class="memitem:a3d6076a5214105bffeaa57f1eab3a7ff inherit pub_methods_classob_1_1Filter"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classob_1_1Filter.html#a3d6076a5214105bffeaa57f1eab3a7ff">Filter</a> ()</td></tr>
<tr class="separator:a3d6076a5214105bffeaa57f1eab3a7ff inherit pub_methods_classob_1_1Filter"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab9d76c02b21cf8eaeaac9fee0c90199a inherit pub_methods_classob_1_1Filter"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classob_1_1Filter.html#ab9d76c02b21cf8eaeaac9fee0c90199a">~Filter</a> ()=default</td></tr>
<tr class="separator:ab9d76c02b21cf8eaeaac9fee0c90199a inherit pub_methods_classob_1_1Filter"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aedb9c713b865dba8d0ae96a85737390d inherit pub_methods_classob_1_1Filter"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classob_1_1Filter.html#aedb9c713b865dba8d0ae96a85737390d">reset</a> ()</td></tr>
<tr class="memdesc:aedb9c713b865dba8d0ae96a85737390d inherit pub_methods_classob_1_1Filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">filter 重置，释放内部缓存，异步处理时停止处理线程并清空待处理的缓存帧  <a href="#aedb9c713b865dba8d0ae96a85737390d">更多...</a><br /></td></tr>
<tr class="separator:aedb9c713b865dba8d0ae96a85737390d inherit pub_methods_classob_1_1Filter"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad884da085733df497cc9f593a703121d inherit pub_methods_classob_1_1Filter"><td class="memItemLeft" align="right" valign="top">virtual std::shared_ptr&lt; <a class="el" href="classob_1_1Frame.html">Frame</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classob_1_1Filter.html#ad884da085733df497cc9f593a703121d">process</a> (std::shared_ptr&lt; <a class="el" href="classob_1_1Frame.html">Frame</a> &gt; frame)</td></tr>
<tr class="memdesc:ad884da085733df497cc9f593a703121d inherit pub_methods_classob_1_1Filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">处理帧（同步接口）  <a href="#ad884da085733df497cc9f593a703121d">更多...</a><br /></td></tr>
<tr class="separator:ad884da085733df497cc9f593a703121d inherit pub_methods_classob_1_1Filter"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad5d756ea42afacff5aaa1f466792de03 inherit pub_methods_classob_1_1Filter"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classob_1_1Filter.html#ad5d756ea42afacff5aaa1f466792de03">pushFrame</a> (std::shared_ptr&lt; <a class="el" href="classob_1_1Frame.html">Frame</a> &gt; frame)</td></tr>
<tr class="memdesc:ad5d756ea42afacff5aaa1f466792de03 inherit pub_methods_classob_1_1Filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">压入待处理 frame 到缓存（异步回调接口）  <a href="#ad5d756ea42afacff5aaa1f466792de03">更多...</a><br /></td></tr>
<tr class="separator:ad5d756ea42afacff5aaa1f466792de03 inherit pub_methods_classob_1_1Filter"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adfdba0a39689f05247e28d6ed3e1c966 inherit pub_methods_classob_1_1Filter"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classob_1_1Filter.html#adfdba0a39689f05247e28d6ed3e1c966">setCallBack</a> (<a class="el" href="namespaceob.html#a5c6cd771034a8052085dee9bdbbf80b0">FilterCallback</a> callback)</td></tr>
<tr class="memdesc:adfdba0a39689f05247e28d6ed3e1c966 inherit pub_methods_classob_1_1Filter"><td class="mdescLeft">&#160;</td><td class="mdescRight">设置回调函数（异步回调接口）  <a href="#adfdba0a39689f05247e28d6ed3e1c966">更多...</a><br /></td></tr>
<tr class="separator:adfdba0a39689f05247e28d6ed3e1c966 inherit pub_methods_classob_1_1Filter"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
额外继承的成员函数</h2></td></tr>
<tr class="inherit_header pro_attribs_classob_1_1Filter"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classob_1_1Filter')"><img src="closed.png" alt="-"/>&#160;Protected 属性 继承自 <a class="el" href="classob_1_1Filter.html">ob::Filter</a></td></tr>
<tr class="memitem:ac80715de348ec5eedcaa8eaf019b7587 inherit pro_attribs_classob_1_1Filter"><td class="memItemLeft" align="right" valign="top">std::shared_ptr&lt; FilterImpl &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classob_1_1Filter.html#ac80715de348ec5eedcaa8eaf019b7587">impl_</a></td></tr>
<tr class="separator:ac80715de348ec5eedcaa8eaf019b7587 inherit pro_attribs_classob_1_1Filter"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><p><a class="el" href="classob_1_1PointCloudFilter.html" title="PointCloudFilter 类，用于生成点云 ">PointCloudFilter</a> 类，用于生成点云 </p>

<p>在文件 <a class="el" href="Filter_8hpp_source.html">Filter.hpp</a> 第 <a class="el" href="Filter_8hpp_source.html#l00060">60</a> 行定义.</p>
</div><h2 class="groupheader">构造及析构函数说明</h2>
<a class="anchor" id="aa8b59d9e70d1f9c24054b2db9f1604a1"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">ob::PointCloudFilter::PointCloudFilter </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

</div>
</div>
<h2 class="groupheader">成员函数说明</h2>
<a class="anchor" id="a659dfbe76b7a952e94101d285ee433c2"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void ob::PointCloudFilter::setCreatePointFormat </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="ObTypes_8h.html#a30904eab1a667b797e7ce1099ba7c36a">OBFormat</a>&#160;</td>
          <td class="paramname"><em>type</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>设置点云类型参数 </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">type</td><td>点云类型 深度点云或 RGBD 点云 </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a class="anchor" id="a050327a9db7e92d5531ceb1776997846"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void ob::PointCloudFilter::setCameraParam </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="structOBCameraParam.html">OBCameraParam</a>&#160;</td>
          <td class="paramname"><em>param</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>设置相机参数 </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">param</td><td>相机内外参数 </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a class="anchor" id="a980dc4e7ae1340245cd7fa4379420bf4"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void ob::PointCloudFilter::setFrameAlignState </td>
          <td>(</td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>state</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>设置将要输入的用于生成点云的帧对齐状态（D2C 模式下需要开启，作为算法选用那组相机内参的依据）(废弃接口) </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">state</td><td>对齐状态，True：开启对齐； False：关闭对齐 </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a class="anchor" id="a2433a1a65918933b1986cd05f5d9f9fd"></a>
<div class="memitem">
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          <td class="memname">void ob::PointCloudFilter::setPositionDataScaled </td>
          <td>(</td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>scale</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>设置点云坐标数据缩放比例 </p>
<dl class="section attention"><dt>注意</dt><dd>调用该函数设置缩放比例会改变输出点云帧的点坐标缩放系数：posScale = posScale / scale; 输出点云帧的点坐标缩放系数可通过 <a class="el" href="classob_1_1PointsFrame.html#af39ab69001206146f0cb32b367850046">PointsFrame::getPositionValueScale</a> 函数获取</dd></dl>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">scale</td><td>缩放比例 </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a class="anchor" id="aed77173766ed9c337ff48cdc3ff9e521"></a>
<div class="memitem">
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          <td class="memname">void ob::PointCloudFilter::setColorDataNormalization </td>
          <td>(</td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>state</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>设置点云颜色数据归一化 </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">state</td><td>是否需要归一化 </td></tr>
  </table>
  </dd>
</dl>

</div>
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<a class="anchor" id="a0162955ce076be68bb369537ede0e42b"></a>
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          <td class="memname">void ob::PointCloudFilter::setCoordinateSystem </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="ObTypes_8h.html#aedf3502c5abaa3bfd8027d61e8f529de">OBCoordinateSystemType</a>&#160;</td>
          <td class="paramname"><em>type</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>设置点云坐标系 </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">type</td><td>坐标系类型 </td></tr>
  </table>
  </dd>
</dl>

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<li>header_cn/libobsensor/hpp/<a class="el" href="Filter_8hpp_source.html">Filter.hpp</a></li>
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